WO2023120160A1

WO2023120160A1 - Oral cavity cleaning device, oral cavity cleaning method, and oral cavity cleaning program

Info

Publication number: WO2023120160A1
Application number: PCT/JP2022/044889
Authority: WO
Inventors: 真美筒井; 渉実松; 浩輝篠田; シュリーラクシャアクレディ; アビジットモンダル; ソマセカーランナイルアヌプスリマンガラム
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2021-12-21
Filing date: 2022-12-06
Publication date: 2023-06-29
Also published as: JP2023092277A

Abstract

This disclosure provides an oral cavity cleaning device capable of suitably cleaning an area to be cleaned in the oral cavity. The oral cavity cleaning device according to the present disclosure comprises: a camera unit that images the inside of the oral cavity; a cleaning unit that discharges a liquid to clean the inside of the oral cavity; an image data acquisition unit (113); a boundary detection unit (114); a position determination unit (115); and a discharge control unit (116). The image data acquisition unit (113) acquires image data acquired by the camera unit. The boundary detection unit (114) detects the boundary between teeth and gums in the oral cavity on the basis of the image data. The position determination unit (115) determines whether the liquid discharged from the cleaning unit hits the boundary on the basis of the image data. The discharge control unit (116) causes the cleaning unit to discharge the liquid for cleaning the oral cavity when the position determination unit (115) determines that the liquid discharged from the cleaning unit hits the boundary.

Description

Oral cleaning device, oral cleaning method, and oral cleaning program

The present disclosure relates to an oral cleaning device, an oral cleaning method, and an oral cleaning program.

Conventionally, devices for cleaning the oral cavity with brushes, water streams, etc., have been proposed for more appropriately cleaning the object to be cleaned in the oral cavity. US Pat. No. 6,200,000 discloses an oral care device with a sensor that acquires movement data. The oral care device disclosed in Patent Document 1 calculates position information based on data acquired by an acceleration sensor, and accurately determines the position of the device in the oral cavity.

Japanese Patent Publication No. 2021-510316

In the oral care device disclosed in Patent Document 1, the position of the head of the oral care device in the oral cavity is determined based on the movement data acquired by the sensor. That is, the oral care device determines the position of engagement between the teeth and the head of the oral care device in response to movement of the oral care device. However, in actual cleaning of the oral cavity, it is required to specify and clean more detailed positions such as boundaries between teeth and gums. For example, in the case of washing the oral cavity with water flow, the water flow may be wasted if the water flow is discharged to a location different from the desired location.

The present disclosure has been made in view of such problems of the conventional technology. An object of the present disclosure is to provide an oral cavity cleaning device capable of appropriately cleaning a site to be cleaned in the oral cavity.

An oral cavity cleaning apparatus according to an aspect of the present disclosure includes a camera unit that captures images of the oral cavity, a cleaning unit that cleans the oral cavity by ejecting liquid, and image data acquired by the camera unit. An acquisition unit, a boundary detection unit that detects the boundary between the tooth and the gum in the oral cavity based on the image data, and a determination as to whether the liquid ejected from the cleaning unit hits the boundary based on the image data. and an ejection control unit that causes the cleaning unit to eject the liquid for cleaning the oral cavity when the position determination unit determines that the liquid ejected from the cleaning unit hits the boundary.

An oral cavity cleaning method according to an aspect of the present disclosure is an oral cavity cleaning method executed by a computer, in which image data obtained by a camera unit that captures an image of the oral cavity is acquired, and based on the image data, the oral cavity The boundary between the inner tooth and the gum is detected, and based on the image data, it is determined whether or not the liquid discharged from the cleaning unit that cleans the oral cavity by discharging the liquid hits the boundary. When it is determined that the liquid ejected from the mouth hits the boundary, the liquid for cleaning the inside of the oral cavity is ejected from the cleaning unit.

An oral cavity cleaning program according to an aspect of the present disclosure acquires image data acquired by a camera unit that captures images of the oral cavity, and detects boundaries between teeth and gums in the oral cavity based on the image data. 2. If it is determined based on the image data whether or not the liquid ejected from the cleaning unit that cleans the oral cavity by ejecting the liquid hits the boundary, and if it is determined that the liquid ejected from the cleaning unit hits the boundary Second, the computer is caused to execute a process of discharging the liquid for washing the inside of the oral cavity from the washing unit.

According to the present disclosure, it is possible to provide an oral cavity cleaning device capable of appropriately cleaning a site to be cleaned in the oral cavity.

1 is a schematic diagram of an oral cleaning device according to a first embodiment; FIG. It is a figure for demonstrating the nozzle which concerns on 1st Embodiment. FIG. 2B is a cross-sectional view of the nozzle along the IIB-IIB cross section of FIG. 2A; 1 is a block diagram showing the configuration of an oral cavity cleaning device according to a first embodiment; FIG. It is a block diagram showing the functional configuration of the oral cavity cleaning apparatus according to the first embodiment. It is a figure for demonstrating the positional relationship of the nozzle of the oral-cleansing apparatus which concerns on 1st Embodiment, and a tooth|gear. 4A and 4B are diagrams for explaining an image acquired by the camera according to the first embodiment; FIG. It is a figure for demonstrating the positional relationship of the nozzle of the oral-cleansing apparatus which concerns on 1st Embodiment, and a tooth|gear. FIG. 4 is a diagram for explaining an image acquired by a camera of the oral cavity cleaning apparatus according to the first embodiment; FIG. 4 is a flowchart showing an example of processing of the oral cavity cleaning device according to the first embodiment; FIG. 10 is a diagram for explaining the nozzle of the oral cavity cleaning device according to the second embodiment; It is a block diagram showing a functional configuration of an oral cavity cleaning apparatus according to a second embodiment. FIG. 10 is a diagram for explaining control of nozzles of the oral cavity cleaning apparatus according to the second embodiment; FIG. 10 is a diagram for explaining control of nozzles of the oral cavity cleaning apparatus according to the second embodiment; FIG. 10 is a diagram for explaining control of nozzles of the oral cavity cleaning apparatus according to the second embodiment; It is a flow chart which shows an example of processing of the intraoral cleaning device concerning a 2nd embodiment. FIG. 10 is a block diagram showing the functional configuration of an oral cavity cleaning device according to a third embodiment; It is a flow chart which shows an example of processing of the intraoral cleaning device concerning a 3rd embodiment. FIG. 11 is a flowchart showing an example of processing related to image quality information adjustment in processing of the oral cavity cleaning apparatus according to the third embodiment; FIG. It is a schematic diagram of an oral cavity cleaning device according to another embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially the same configurations may be omitted. It should be noted that the accompanying drawings and the following description are provided to allow those skilled in the art to fully understand the present disclosure and are not intended to limit the claimed subject matter thereby.

(Schematic configuration of oral cavity cleaning device 1)
The oral cavity cleaning apparatus 1 according to the present embodiment is equipped with a camera for photographing the inside of the oral cavity, and jets a water stream from the nozzle 10 to a desired position in the oral cavity based on image data acquired by the image sensor of the camera. , is a device for properly cleaning the oral cavity. Below, the oral cavity cleaning device 1 will be described with reference to some specific embodiments.

(First embodiment)
FIG. 1 is an external view showing an outline of an oral cavity cleaning device 1 according to a first embodiment. The oral cavity cleaning device 1 includes a nozzle 10 , a water tank 20 , an operation switch 30 and a water pressure selector switch 40 . The oral cavity cleaning apparatus 1 jets a stream of water from the nozzle 10 based on the depression of the operation switch 30 by the user and a predetermined condition described later. A predetermined place in the oral cavity is washed by the water pressure of the jetted water stream. It is also assumed that the water pressure of this water flow can be switched by pressing the water pressure switch 40 by the user.

The liquid (for example, water) that forms the source of the water flow jetted from the nozzle 10 is accumulated in the water tank 20 in advance and jetted from the nozzle 10 via the hose. The liquid accumulated in the water tank 20 is not limited to water, and may be, for example, a washing liquid for washing the inside of the oral cavity. In this specification, the case where the liquid accumulated in the water tank 20 and discharged from the nozzle 10 is water will be described below.

FIG. 2A is an enlarged view of the tip of the nozzle 10 of the oral cavity cleaning device 1. FIG. As shown in FIG. 2A, the tip of the nozzle 10 includes a cleaning unit 11 that cleans the oral cavity by ejecting liquid, and a camera unit 12 that captures images of the oral cavity.

FIG. 2B shows a cross-sectional view of the tip of the nozzle 10 in the IIB-IIB cross section of FIG. 2A. A cleaning portion 11 provided in the nozzle 10 has a pipe structure for passing and discharging water. The cleaning part 11 may also be replaceable, in which case it is fixed by the mounting part 14 . For example, an o-ring (that is, an O-ring) is used for the mounting portion 14 . The camera unit 12 has a lens and an image sensor at its tip, and sends captured intraoral image data to the main body of the intraoral cleaning apparatus 1 via the cable 13 .

The oral cavity cleaning device 1 controls the cleaning section 11 and the camera section 12 by a controller 100 (see FIG. 3) provided inside the oral cavity cleaning device 1 . FIG. 3 is a block diagram showing the configuration of the oral cavity cleaning device 1 according to the first embodiment. More specifically, FIG. 3 is a block diagram showing the configuration of the controller 100 provided in the oral cavity cleaning apparatus 1, and the cleaning section 11 and camera section 12 controlled by the controller 100. As shown in FIG. Further, the controller 100 acquires information that the operation switch 30 and the water pressure changeover switch 40 are pressed as control signals.

As shown in FIG. 3, the controller 100 includes a control unit 110, a storage unit 120, and an input/output IF 140. As used herein, the terms "IF," "CPU," and "ROM" refer to interface, central processing unit, and read-only memory, respectively. Controller 100 may also include communication IF 130 . The controller 100 may be configured as a general-purpose microcomputer including a CPU (ie, one type of control unit 110), a memory (ie, one type of storage unit 120), and an input/output IF 140. In this case, the microcomputer may be installed with a computer program for functioning as the oral cavity cleaning apparatus 1 . By executing the computer program, the microcomputer functions as a plurality of information processing circuits provided in the oral cavity cleaning apparatus 1 . In this embodiment, an example of realizing a plurality of information processing circuits provided in the oral cavity cleaning apparatus 1 by software will be described. , it is also possible to construct an information processing circuit. Also, a plurality of information processing circuits may be configured by individual hardware.

The control unit 110 operates based on a program (not shown) stored in the storage unit 120 and executes each function shown in FIG. Note that the program is not limited to being stored in the storage unit 120, and may be stored in a ROM or the like (not shown) in the controller 100, for example.

The storage unit 120 acquires and stores intraoral images captured by the camera unit 12 via the input/output IF 140 . In addition, the storage unit 120 may store a program for each function executed by the control unit 110, as described above. Note that the images and programs stored in the storage unit 120 may be configured as physically or logically divided areas provided in one storage device. Alternatively, a configuration may be adopted in which the storage units 120 for each data are provided in a plurality of physically different storage devices.

The communication IF 130 is an interface for communicating between the oral cavity cleaning apparatus 1 and various external devices via at least one of a wired network and a wireless network. The user may update the control program of the oral cavity cleaning apparatus 1 via the communication IF 130 . Also, the user may acquire image data or the like stored in the storage unit 120 via the communication IF 130 .

The input/output IF 140 is an interface for transmitting and receiving data, control signals, etc. between the controller 100 and the cleaning unit 11, camera unit 12, operation switch 30, and water pressure selector switch 40 of the oral cavity cleaning apparatus 1.

(Functional configuration of oral cleaning device 1)
FIG. 4 is a diagram showing the functional configuration of the controller 110 of the oral cavity cleaning apparatus 1 according to the first embodiment.

As shown in FIG. 4, the control unit 110 includes a switch depression determination unit 111, a camera control unit 112, an image data acquisition unit 113, a boundary detection unit 114, a position determination unit 115, an ejection control unit 116, as a function.

The switch depression determination unit 111 acquires information regarding whether or not the operation switch 30 has been depressed by the user via the input/output IF 140, and determines whether or not the operation switch 30 has been depressed.

The camera control unit 112 controls the camera unit 12 such as activation and shooting.

The image data acquisition unit 113 acquires image data acquired by the image sensor of the camera unit 12 via the input/output IF 140 . Also, the image data acquisition unit 113 may store the acquired image data in the storage unit 120 .

The boundary detection unit 114 detects the boundary between the tooth and the gum based on the image data acquired by the image data acquisition unit 113. FIG. 5A is a diagram for explaining the positional relationship between the camera portion 12 of the nozzle 10 and the teeth T and gums G. FIG. The camera unit 12 acquires image data of an area including the tooth T and the gum G at the position shown in FIG. 5A. Further, in FIG. 5A, an area A indicates an area where the water discharged from the discharge port of the cleaning unit 11 hits at least one of the teeth and the gums.

FIG. 5B is a diagram showing an example of image data acquired by the camera unit 12 with respect to the positional relationship in FIG. 5A. In the example shown in FIG. 5B , an area A is shown in the center of the image data where the water ejected from the ejection port of the cleaning unit 11 hits at least one of the tooth T and the gum G. As shown in FIG. Also, in the example shown in FIG. 5B, the boundary between the tooth T and the gum G is indicated by a plurality of boundary points B. As shown in FIG.

In this embodiment, the boundary point B between the tooth T and the gum G is detected by the pixel intensity of the image data. In this embodiment, when each pixel (that is, pixel) of the image data obtained by the image sensor is represented by 8 bits, each pixel is represented by a gray scale of 0 to 255 gradations. A pixel value of 0 indicates black, and a pixel value of 255 indicates white. In general, the color of teeth is close to white, and conversely, the color of gums is close to black compared to teeth. Therefore, the pixel value of the gum G is smaller than the pixel value of the tooth T area. In this embodiment, the boundary detection unit 114 determines the boundary between the tooth T and the gum G using a boundary threshold value detected in advance by experiment.

Also, in this embodiment, the boundary between the tooth T and the gum G is discretely detected at predetermined intervals. That is, the boundary detection unit 114 detects the boundary between the tooth T and the gum G as a plurality of discrete points based on the pixel values of the image data. Boundaries detected as a plurality of discrete points may be configured, for example, by detecting one arbitrary boundary point and then sequentially calculating the boundaries at predetermined intervals. Alternatively, the boundary detection unit 114 may detect the boundary as a plurality of discrete points by thinning out the data for the detected boundary.

Here, the predetermined interval of the boundary detected between the tooth T and the gum G is 2 mm in this embodiment. The configuration in which the predetermined interval of the boundary detected between the tooth T and the gum G is set to 2 mm does not limit the configuration of the present embodiment. It may be set arbitrarily. In this way, by detecting the boundary between the tooth T and the gum G as a plurality of discrete points, the oral cavity cleaning apparatus 1 can acquire more points than when calculating the boundary for all pixel values. It is possible to reduce the amount of data to be processed.

The position determination unit 115 determines whether the boundary between the tooth T and the gum G detected by the boundary detection unit 114 is at a predetermined position. Here, the predetermined position corresponds to a position (that is, region A) that hits the water discharged from the cleaning unit 11 . That is, the position determination unit 115 determines whether or not the position of the boundary between the tooth T and the gum G detected by the boundary detection unit 114 matches the position where the water discharged from the cleaning unit 11 hits. . For example, in the example shown in FIG. 5B, boundary point B, which is the boundary between tooth T and gum G, is included in region A, which is the position where water discharged from cleaning unit 11 hits. In this case, the position determination unit 115 determines that the boundary between the tooth T and the gum G detected by the boundary detection unit 114 is the position where the water discharged from the cleaning unit 11 hits.

FIG. 6A is a diagram for explaining the positional relationship between the camera section 12 of the nozzle 10 and the teeth T and gums G. FIG. FIG. 6B is a diagram showing an example of image data acquired by the camera unit 12 with respect to the positional relationship in FIG. 6A. 6A and 6B show a comparative example in which the water discharged from the cleaning section 11 does not hit the boundary between the tooth T and the gum G. FIG. As shown in FIG. 6A, the region A hit by the water discharged from the cleaning unit 11 is located away from the gums G. As shown in FIG. Further, as shown in FIG. 6B , the boundary point B, which is the boundary between the tooth T and the gum G, is not included in the area A hit by the water discharged from the cleaning unit 11 . That is, in the example shown in FIGS. 6A and 6B, the position determination unit 115 determines that the boundary between the tooth T and the gum G detected by the boundary detection unit 114 is a position where the water discharged from the cleaning unit 11 hits. determine that it is not.

When the position determination unit 115 determines that the water discharged from the cleaning unit 11 hits the boundary between the tooth T and the gum G, the ejection control unit 116 causes the cleaning unit 11 to clean the inside of the oral cavity. Dispense water. As a result, water is discharged to a desired position in the oral cavity, and the oral cavity is cleaned. Further, when the position determination unit 115 determines that the water discharged from the cleaning unit 11 does not hit the boundary between the tooth T and the gum G, the ejection control unit 116 moves the inside of the oral cavity from the cleaning unit 11. Do not spray water for washing. As a result, the oral cavity cleaning device 1 can prevent wasteful discharge of water in cleaning the oral cavity.

In addition, the ejection control unit 116 terminates the ejection after a predetermined time has elapsed after the ejection is started. Here, in this embodiment, the predetermined time is 0.5 seconds, for example. It should be noted that the discharge time of water from the cleaning unit 11 is not limited to 0.5 seconds, and the water may be discharged for a period of time shorter than 0.5 seconds or longer than 0.5 seconds. As a result, the oral cavity cleaning device 1 can prevent wasteful discharge of water in cleaning the oral cavity.

(Processing flow of oral cleaning device 1)
Next, a process (that is, an oral cavity cleaning method) related to oral cavity cleaning in the oral cavity cleaning device 1 will be described based on the flowchart of FIG. 7 . FIG. 7 is a flow chart showing an example of processing of the oral cavity cleaning apparatus according to the first embodiment. A series of operations of the oral cavity cleaning device 1 shown in the flowchart of FIG. 7 are started when the oral cavity cleaning device 1 is activated, and the processing ends when the power is turned off. In addition, in the flowchart shown in FIG. 7, the process is terminated not only by turning off the power but also by an interrupt to end the process. In addition, in the explanation of the flowchart below, the same contents as those described in the above explanation of the oral cavity cleaning device 1 will be omitted or simplified.

In step S701, the switch depression determination unit 111 acquires information regarding whether or not the operation switch 30 has been depressed by the user via the input/output IF 140, and determines whether or not the operation switch 30 has been depressed. In step S701, when the switch depression determination unit 111 determines that the operation switch 30 has been depressed (step S701: YES), the process proceeds to step S702. On the other hand, if the switch depression determination unit 111 determines in step S701 that the operation switch 30 is not depressed (step S701: NO), the process returns to step S701 and repeats the process in step S701. That is, the process of step S701 is repeatedly executed until the operation switch 30 is pressed.

In step S702, the camera control unit 112 controls activation of the camera unit 12. After that, the process proceeds to step S703.

In step S703, the camera control unit 112 acquires image data acquired by the image sensor of the camera unit 12. Specifically, the camera control unit 112 acquires sensor information acquired by the image sensor of the camera unit 12 as image data. After that, the process proceeds to step S704.

In step S704, the boundary detection unit 114 detects the boundary between the tooth T and the gum G based on the image data acquired by the image data acquisition unit 113. After that, the process proceeds to step S705.

In step S705, the position determination unit 115 determines whether the boundary between the tooth T and the gum G detected by the boundary detection unit 114 is present at the position (that is, region A) where the water discharged from the cleaning unit 11 hits. determine whether or not In step S705, if the position determination unit 115 determines that there is a boundary between the tooth T and the gum G detected by the boundary detection unit 114 in the area A hit by the water discharged from the cleaning unit 11 (step S705: YES), the process proceeds to step S706. On the other hand, in step S705, if the position determination unit 115 determines that there is no boundary between the tooth T and the gum G in the area A hit by the water discharged from the cleaning unit 11 (step S705: NO). , the process returns to step S703. After that, the processing from step S703 is repeatedly executed.

In step S<b>706 , if the position determination unit 115 determines that the boundary between the tooth T and the gum G is the position where the water discharged from the cleaning unit 11 hits, the ejection control unit 116 Dispense water from As a result, water is discharged to a desired position in the oral cavity, and the oral cavity is cleaned. After that, the process proceeds to step S707.

In step S707, the discharge control unit 116 determines whether or not a predetermined time has passed since the washing unit 11 started discharging water. Here, in this embodiment, the predetermined time is 0.5 seconds, for example. In addition, the discharge time of water from the washing unit 11 is not limited to 0.5 seconds, and the water may be discharged for a time shorter than 0.5 seconds or longer than 0.5 seconds. When the ejection control unit 116 determines in step S707 that the predetermined time has elapsed since the water ejection from the cleaning unit 11 was started (step S707: YES), the process proceeds to step S708. On the other hand, when the ejection control unit 116 determines in step S707 that the predetermined time has not elapsed since the water ejection from the cleaning unit 11 started (step S707: NO), the process returns to step S707. , the processing of step S707 is repeated.

In step S708, the ejection control unit 116 controls the cleaning unit 11 to stop the ejection of water from the cleaning unit 11. After that, the process proceeds to step S709.

At step S709, the control unit 110 determines whether or not the operation switch 30 is turned off. In step S709, when the switch depression determination unit 111 determines that the operation switch 30 is turned off (step S709: YES), the process ends. On the other hand, if the switch depression determination unit 111 determines in step S709 that the operation switch 30 is not turned off (step S709: NO), the process returns to step S703, and the process from step S703 is performed. Executed repeatedly.

As described above, the oral cavity cleaning apparatus 1 according to the first embodiment includes the camera unit 12 that photographs the inside of the oral cavity, the cleaning unit 11 that cleans the oral cavity by ejecting liquid, and the image data acquisition unit 113. , a boundary detection unit 114 , a position determination unit 115 , and an ejection control unit 116 . The image data acquisition unit 113 acquires image data acquired by the camera unit 12 . The boundary detection unit 114 detects the boundary between the tooth T and the gum G in the oral cavity based on the image data. The position determination unit 115 determines whether or not the liquid ejected from the cleaning unit hits the boundary based on the image data. When the position determination unit 115 determines that the liquid ejected from the cleaning unit 11 hits the boundary, the ejection control unit 116 causes the cleaning unit 11 to eject liquid for cleaning the oral cavity. As a result, the oral cavity cleaning apparatus 1 can appropriately clean the site to be cleaned in the oral cavity.

In addition, when the position determination unit 115 determines that the liquid discharged from the cleaning unit 11 does not hit the boundary, the ejection control unit 116 of the oral cavity cleaning device 1 cleans the oral cavity from the cleaning unit 11. liquid may not be ejected. As a result, the oral cavity cleaning device 1 can prevent wasteful discharge of water in cleaning the oral cavity.

Further, the ejection control unit 116 of the oral cavity cleaning device 1 may end ejection after a predetermined time has elapsed after starting ejection. As a result, the oral cavity cleaning device 1 can prevent wasteful discharge of water in cleaning the oral cavity.

Also, the boundary detection unit 114 of the oral cavity cleaning apparatus 1 may detect the boundary as a plurality of discrete points based on the pixel values of the image data. As a result, the oral cavity cleaning apparatus 1 detects the boundary between the tooth T and the gum G as a plurality of discrete points. Data volume can be reduced.

(Second embodiment)
As described above, one specific embodiment has been described, but the above-described embodiment is an example and does not limit the embodiment. For example, in the above-described embodiment, the form of washing the oral cavity when there is a boundary between the tooth T and the gum G in the area where water is discharged from the washing unit 11 has been exemplified. Further, here, in the oral cavity cleaning device 1, the oral cavity cleaning device 1 according to the second embodiment, which adjusts the cleaning position in the oral cavity based on the image acquired by the camera unit 12, will be described with respect to the first embodiment. Different configurations are described.

FIG. 8 is a schematic diagram schematically showing the outline of the nozzle 10 for explaining the configuration of the nozzle 10 of the oral cavity cleaning device 1 according to the second embodiment. As shown in FIG. 8, the nozzle 10 of the oral cavity cleaning device 1 according to the second embodiment includes a drive mechanism 15 and a drive control unit 16, and thus the same as the oral cavity cleaning device according to the above-described first embodiment. No. 1 nozzle 10 is different.

The drive mechanism 15 is a mechanism for driving the tip of the nozzle 10 in a predetermined direction. The drive mechanism 15 may be a mechanism that allows the tip of the nozzle 10 to move horizontally in the plane shown in FIG. In this specification, the horizontal direction in FIG. 8 is defined as the X-axis direction. In other words, the drive mechanism 15 may be a mechanism capable of moving the tip of the nozzle 10 in the X-axis direction on the plane shown in FIG.

3, the driving mechanism 15 rotates the tip of the nozzle 10 by rotating the entire nozzle 10 with the longitudinal direction of the nozzle 10 (that is, the X-axis direction) as the central axis of rotation. It may be a mechanism that allows movement.

Furthermore, the drive mechanism 15 moves the tip of the nozzle 10 in the X-axis direction in the plane shown in FIG. It may be a mechanism that makes it possible to turn the tip of the nozzle 10 by rotating it. In this specification, the term “tilting” means moving in the X-axis direction and rotating the entire nozzle 10 with the longitudinal direction of the nozzle 10 (that is, the X-axis direction) as the central axis of rotation. It means that the entire nozzle 10 is rotated around the central axis of rotation.

FIG. 9 is a block diagram showing the functional configuration of the controller 110 in the oral cavity cleaning device 1 according to the second embodiment. The control unit 110 of the oral cavity cleaning device 1 according to the second embodiment has a functional configuration different from that of the control unit 110 of the oral cavity cleaning device 1 according to the first embodiment in that it includes a nozzle control unit 117. .

The nozzle control unit 117 determines the orientation of the tip of the nozzle 10 based on the result of determination by the position determining unit 115 whether or not the destination of water discharged from the nozzle 10 is on the boundary between the tooth T and the gum G. and position. Specifically, when the position determination unit 115 determines that the destination of water discharged from the nozzle 10 is not on the boundary between the tooth T and the gum G, the nozzle control unit 117 changes the position of the tip of the nozzle 10. The orientation is changed so that the destination of the water from the nozzle 10 is the boundary between the tooth T and the gum G. That is, when the position determination unit 115 determines that the water ejected from the cleaning unit 11 does not hit the boundary, the nozzle control unit 117 controls the cleaning unit 11 so that the water ejected from the cleaning unit 11 hits the boundary. change the direction of water discharge from the Hereinafter, the direction in which water is discharged from the cleaning unit 11 will be described with reference to FIGS. 10A to 10C.

10A to 10C are diagrams for explaining an example in which the nozzle control unit 117 changes at least one selected from the group consisting of the orientation and position of the tip of the nozzle 10. FIG. FIG. 10A shows an example in which the tip of the nozzle 10 moves vertically (that is, in the X-axis direction in FIG. 8). In the example shown in FIG. 10A, the boundary point B between the center of the area A where the water is discharged from the nozzle 10 and the tooth T and the gum G located on the vertical straight line passing through the center of the area A is separated from the center by a distance D. In this case, the nozzle control unit 117 sends a control signal to the drive control unit 16 so that the tip of the nozzle 10 moves downward by a distance D in the vertical direction. The drive control unit 16 controls the drive mechanism 15 based on the control signal from the nozzle control unit 117 to move the tip of the nozzle 10 downward by a distance D. As shown in FIG. As a result, the position of the area A, which is the destination of the water discharged from the nozzle 10, and the position of the boundary point B between the tooth T and the gum G are aligned, and appropriate cleaning of the oral cavity is possible.

FIG. 10B shows an example in which the tip of the nozzle 10 is rotated by rotating the entire nozzle 10 with the longitudinal direction (that is, the X-axis direction) of the nozzle 10 as the central axis of rotation. Here, in FIG. 10B, for a place where there is no boundary point B between the tooth T and the gum G, a straight line connecting the center of the boundary point B between the tooth T and the gum G and another boundary point B Let L deduce the boundary between the tooth T and the gum G. In FIG. 10B, the nozzle control unit 117 estimates the position of the straight line L connecting the centers of the boundary points B1 and B2 as the boundary between the tooth T and the gum G. In FIG.

In the example shown in FIG. 10B, the distance between the center of area A and the point where the vertical line and the horizontal line passing through the center of area A intersect the boundary between tooth T and gum G is distance is shorter. Therefore, in the example shown in FIG. 10B, the nozzle control unit 117 sends a control signal to the drive control unit 16 so that the tip of the nozzle 10 moves by the distance D in the horizontal direction. The drive control unit 16 controls the drive mechanism 15 based on the control signal from the nozzle control unit 117 to rotate the entire nozzle 10 with the longitudinal direction (that is, the X-axis direction) of the nozzle 10 as the central axis of rotation. 10B to move the tip of the nozzle 10 by a distance D in the left direction of FIG. 10B. As a result, the area A where water is discharged from the nozzle 10 coincides with the boundary between the tooth T and the gum G, so that the oral cavity can be washed appropriately.

In FIG. 10C, the tip of the nozzle 10 moves in the vertical direction (that is, the X-axis direction in FIG. 8), and the entire nozzle 10 rotates with the longitudinal direction of the nozzle 10 (that is, the X-axis direction) as the rotation center axis. An example in which the tip portion of the nozzle 10 is tilted by moving is shown. Here, in FIG. 10C, the nozzle control unit 117 controls the nozzle 10 with respect to the boundary point B between the center of the region A, which is the destination of water discharged from the nozzle 10, and the nearest tooth T and gum G. change the orientation and position of the tip of the The example of FIG. 10C shows an example of changing the direction and position of the tip of the nozzle 10 so that the boundary point B changes the position of the region A. In FIG. As a result, the area A where water is discharged from the nozzle 10 coincides with the boundary between the tooth T and the gum G, so that the oral cavity can be washed appropriately.

(Processing flow of oral cleaning device 1)
Next, the process (that is, the oral cavity cleaning method) related to oral cavity cleaning in the oral cavity cleaning apparatus 1 according to the second embodiment will be described based on the flowchart of FIG. 11 . FIG. 11 is a flowchart showing an example of processing of the oral cavity cleaning device 1 according to the second embodiment. A series of operations of the oral cavity cleaning device 1 shown in the flowchart of FIG. 11 is started when the oral cavity cleaning device 1 is activated, and ends when the power is turned off. In addition, in the flowchart shown in FIG. 11, the process is terminated not only by turning off the power but also by an interrupt to end the process. In addition, in the explanation of the flowchart below, the same contents as those described in the above explanation of the oral cavity cleaning device 1 will be omitted or simplified.

The processing from step S1101 to step S1104 is the same as the processing from step S701 to step S704 shown in FIG. 7 above, so the description is omitted here.

In step S1105, the position determination unit 115 determines whether or not the area A, which is the destination of the water discharged from the nozzle 10, is on the boundary between the tooth T and the gum G. In the second embodiment, if there is a boundary point B, the boundary between the tooth T and the gum G corresponds to the boundary point B. On the other hand, in the second embodiment, when there is no boundary point B, the boundary between the tooth T and the gum G is a straight line L connecting the centers of adjacent boundary points B. Presume to be the boundary.

In step S1105, if the position determination unit 115 determines that the area A, which is the destination of the water discharged from the nozzle 10, is on the boundary between the tooth T and the gum G (step S1105: YES), the process is The process advances to step S1106. On the other hand, if the position determination unit 115 determines in step S1105 that the area A, which is the destination of the water discharged from the nozzle 10, is not on the boundary between the tooth T and the gum G (step S1105: NO) , the process proceeds to step S1110.

The processing from step S1106 to step S1109 is the same as the processing from step S706 to step S709 shown in FIG. 7 described above, so the description is omitted here.

In step S<b>1110 , the nozzle control unit 117 changes at least one selected from the group consisting of the direction and position of the tip of the nozzle 10 . Specifically, the nozzle control unit 117 sends a control signal to the drive control unit 16 so that the area A, which is the destination of the water discharged from the nozzle 10, is positioned at the boundary between the tooth T and the gum G. . The drive control unit 16 controls the drive mechanism 15 based on the control signal from the nozzle control unit 117 to change the direction of the tip of the nozzle 10 . In FIG. 11 , “nozzle direction/position change” means changing at least one selected from the group consisting of the direction and position of the tip of the nozzle 10 .

As described above, the oral cavity cleaning apparatus 1 according to the second embodiment further includes the nozzle control section 117 that controls the drive mechanism 15 for changing the ejection direction of the liquid from the cleaning section 11 . When the position determination unit 115 determines that the liquid ejected from the cleaning unit 11 does not hit the boundary, the nozzle control unit 117 controls the nozzle control unit 117 so that the liquid ejected from the cleaning unit 11 hits the boundary. change the direction of liquid ejection. Thereby, in the oral cavity cleaning device 1 according to the second embodiment, the area A, which is the destination of water discharged from the nozzle 10, coincides with the boundary between the teeth T and the gums G, so that the oral cavity can be appropriately cleaned. becomes possible.

(Third Embodiment)
Next, a third embodiment will be described. In the following description, when the same reference numerals as at least one of the first and second embodiments are used, the same configuration as at least one of the first and second embodiments is indicated, and unless otherwise specified, it precedes. See description. Here, the oral cavity cleaning device 1 according to the third embodiment capable of adjusting the image quality of the image data acquired by the image sensor of the camera unit 12 is different from at least one of the first and second embodiments. The configuration will be explained.

FIG. 12 is a block diagram showing the functional configuration of the controller 110 in the oral cavity cleaning device 1 according to the third embodiment. The control unit 110 of the oral cavity cleaning device 1 according to the third embodiment includes an image quality information adjusting unit 118, and thus has the same functionality as the control unit 110 of the oral cleaning device 1 according to the first and second embodiments. Different from configuration.

The intraoral image data acquired by the camera unit 12 may be a bright image or a dark image as a whole depending on the brightness of the place where the oral cavity cleaning device 1 is used. For example, if the image data results in an overall bright or dark image, the determination of the boundary between the tooth and gum may not be performed accurately. The oral cavity cleaning apparatus 1 according to the third embodiment adjusts the image quality of the image data using the image quality information adjustment unit 118, and enables accurate determination of the boundary between the tooth and the gum.

The image quality information adjustment unit 118 calculates the average value of pixel values for image data acquired by the image sensor of the camera unit 12 . Then, the image quality information adjustment unit 118 determines whether or not the calculated average value of the pixel values is within a predetermined range. Specifically, the image quality information adjusting unit 118 compares the calculated average value of the pixel values with an image quality determination threshold stored in advance in the storage unit 120 (strictly speaking, the average value is the image quality It is compared with the upper limit of the determination threshold and further compared with the lower limit of the image quality determination threshold) to determine whether the average value of the pixel values is within a predetermined range.

Also, when the image quality information adjustment unit 118 determines that the calculated average value of the pixel values is not within the predetermined range, the image quality information adjustment unit 118 adjusts the image quality of the image data. Specifically, when the image quality information adjustment unit 118 determines that the average value of the calculated pixel values is higher than the predetermined range (that is, determines that the average value is higher than the upper limit of the image quality determination threshold). , a predetermined value is subtracted from the pixel values of the entire image quality data so that the average value of the pixel values is within a predetermined range. Similarly, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values is lower than the predetermined range (that is, determines that the average value is lower than the lower limit of the image quality determination threshold), the pixel A predetermined value is added to the pixel values of the entire image quality data so that the average value of the values is within a predetermined range. That is, the image quality information adjustment unit 118 calculates the average value of the pixel values of the image data and adjusts the image quality of the image data based on the average value.

Here, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values is higher than the predetermined range (that is, determines that the average value is higher than the upper limit of the image quality determination threshold), the pixel and an intermediate value between the upper limit and the lower limit of the image quality determination threshold may be obtained. Furthermore, the image quality information adjustment unit 118 may adjust the image quality of the image data by subtracting the difference value from each pixel value of the image data.

Similarly, if the image quality information adjustment unit 118 determines that the average value of the calculated pixel values is lower than the predetermined range (that is, determines that the average value is lower than the lower limit of the image quality determination threshold), the pixel and an intermediate value between the upper limit and the lower limit of the image quality determination threshold may be obtained. Furthermore, the image quality information adjustment unit 118 may adjust the image quality of the image data by adding the difference value to each pixel value of the image data.

(Processing flow of oral cleaning device 1)
Next, a process (that is, an oral cavity cleaning method) related to oral cavity cleaning in the oral cavity cleaning apparatus 1 according to the third embodiment will be described based on the flowcharts of FIGS. 13 and 14. FIG. FIG. 13 is a flow chart showing an example of processing of the oral cavity cleaning device 1 according to the third embodiment. FIG. 14 is a flowchart showing an example of processing related to image quality information adjustment in processing of the oral cavity cleaning apparatus 1 according to the third embodiment. A series of operations of the oral cavity cleaning device 1 shown in the flow charts of FIGS. 13 and 14 are started when the oral cavity cleaning device 1 is activated, and are terminated when the power is turned off. In addition, in the flowcharts shown in FIGS. 13 and 14, the processing is terminated not only by turning off the power but also by an interrupt to end the processing. In addition, in the explanation of the flowchart below, the same contents as those described in the above explanation of the oral cavity cleaning device 1 will be omitted or simplified.

The processing from step S1301 to step S1303 shown in FIG. 13 is the same as the processing from step S701 to step S703 in FIG. 7 described above, so the description is omitted here.

In step S<b>1304 , the image quality information adjustment unit 118 adjusts the image quality of the image data acquired by the image sensor of the camera unit 12 . Specifically, a subroutine process of image quality information adjustment process shown in FIG. 14 is executed.

In step S1401 shown in FIG. 14, the image quality information adjustment unit 118 calculates the average value of the pixel values for the image data acquired by the image sensor of the camera unit 12. The process then advances to step S1402.

In step S1402, the image quality information adjusting unit 118 determines whether the average value of the pixel values calculated in step S1401 is within a predetermined range. Specifically, the image quality information adjustment unit 118 compares the calculated average pixel value with an image quality determination threshold value stored in advance in the storage unit 120, and determines that the average pixel value is within a predetermined range. Determine whether or not

In step S1402, when the image quality information adjusting unit 118 determines that the average value of the pixel values is within the predetermined range (step S1402: YES), the process returns to step S1304 and proceeds to step S1305. On the other hand, if the image quality information adjustment unit 118 determines in step S1402 that the average pixel value is not within the predetermined range (step S1402: NO), the process proceeds to step S1403.

In step S1403, the image quality information adjustment unit 118 adjusts the image quality of the image data. Specifically, when the image quality information adjustment unit 118 determines that the calculated average value of pixel values is higher than the predetermined range, the image quality information adjustment unit 118 adjusts the overall image quality data so that the average value of the pixel values is within the predetermined range. Subtract a given value from a pixel value. Similarly, when the image quality information adjustment unit 118 determines that the calculated average pixel value is lower than the predetermined range, the image quality information adjuster 118 adjusts the pixel values of the entire image quality data so that the average pixel value is within the predetermined range. add a predetermined value to The process returns to step S1304 and proceeds to step S1305.

The processing from step S1305 to step S1310 is the same as the processing from step S704 to step S709 in FIG. 7 described above, so the description is omitted here.

As described above, the oral cavity cleaning apparatus 1 according to the third embodiment further includes an image quality information adjustment unit 118 that calculates the average value of the pixel values of the image data and adjusts the image quality of the image data based on the average value. Prepare. As a result, the oral cavity cleaning apparatus 1 according to the third embodiment can adjust the image quality of the image data by the image quality information adjustment unit 118 and accurately determine the boundary between the tooth and the gum. .

(Other embodiments)
Although several embodiments have been described above, the embodiments are not limited to these, and various modifications are possible within the scope of the gist of the embodiments. It is also possible to combine part or all of various embodiments to create new embodiments. That is, the above-described embodiments are for illustrating the technology in the present disclosure, and various changes, replacements, additions, omissions, etc. can be made within the scope of claims or equivalents thereof.

In the above-described embodiment, the boundary between the tooth T and the gum G is detected based on the pixel values of the image data acquired by the camera unit 12. You may use the structure which detects. By calculating the histogram of the image data, it becomes possible to recognize the distribution of pixel values in the respective regions of the tooth T and the gum G in the image data, and it is possible to remove noise etc. in the region other than the tooth T and the gum G. easier. In addition, when the intraoral cavity is photographed by applying light using a light source, reflection information that shines in white may be detected in the vicinity of the boundary between the tooth T and the gum G in the gum G. The boundary detection unit 114 of the oral cavity cleaning apparatus 1 can detect the boundary between the tooth T and the gum G more accurately by using this reflection information.

FIG. 15 is a perspective view showing an example of the configuration of the oral cavity cleaning device 1 in which the nozzle 10 and the main body including the water tank 20 and the like are integrated. As shown in FIG. 15, the integrated oral cavity cleaning device 1 is easy to carry, and the user's convenience is improved, for example, the oral cavity cleaning device 1 can be used on the go.

In addition, a computer program (that is, an oral cavity cleaning program) that causes a computer to execute the oral cavity cleaning method described above and a computer-readable recording medium recording the program are included in the scope of the present embodiment. Here, any type of computer-readable recording medium may be used. In addition, the above-mentioned computer program is not limited to those recorded in the above-mentioned recording medium, and even if it is transmitted via an electric communication line, a wireless or wired communication line, a network represented by the Internet, etc. good.

The features of the oral cavity cleaning device 1, the oral cavity cleaning method, and the oral cavity cleaning program according to the present embodiment are described below.
(1) The oral cavity cleaning device 1 has the following configuration.
(i) It includes a camera section 12 for photographing the intraoral cavity.
(ii) It includes a cleaning unit 11 that cleans the oral cavity by ejecting liquid.
(iii) an image data acquisition unit 113 that acquires image data acquired by the camera unit 12;
(iv) A boundary detection unit 114 that detects the boundary between the tooth and the gum in the oral cavity based on the image data.
(v) A position determination unit 115 that determines whether or not the liquid ejected from the cleaning unit 11 hits the boundary based on the image data.
(vi) An ejection control unit 116 that causes the cleaning unit 11 to eject liquid for cleaning the oral cavity when the position determining unit 115 determines that the liquid ejected from the cleaning unit 11 hits the boundary.

In other words, the oral cavity cleaning device 1 has the following configuration.
(i) It includes a camera section 12 for photographing the intraoral cavity.
(ii) It includes a cleaning unit 11 that cleans the oral cavity by ejecting liquid.
(x) contains electrical and electronic circuits;

The electrical and electronic circuit, during operation,
(x-1) acquiring image data acquired by the camera unit 12;
(x-2) detecting boundaries between teeth and gums in the oral cavity based on the image data;
(x-3) determining whether or not the liquid ejected from the cleaning unit 11 hits the boundary based on the image data;
(x-4) In the above (x-3), when it is determined that the liquid discharged from the cleaning unit 11 hits the boundary, the liquid for cleaning the oral cavity is discharged from the cleaning unit 11 .

Examples of electrical and electronic circuits are semiconductor devices such as integrated circuits (commonly called "ICs") or large-scale integrated circuits (commonly called "LSIs").

According to the present disclosure, the ejection control unit 116 of the oral cavity cleaning device 1 cleans the oral cavity from the cleaning unit 11 when the position determination unit 115 determines that the liquid ejected from the cleaning unit 11 hits the boundary. Dispense the liquid for As a result, the oral cavity cleaning apparatus 1 can appropriately clean the site to be cleaned in the oral cavity.
(2) The ejection control unit 116 of the oral cavity cleaning device 1 cleans the oral cavity from the cleaning unit 11 when the position determining unit 115 determines that the liquid ejected from the cleaning unit 11 does not hit the boundary. It is not necessary to discharge the liquid for the purpose.

According to the present disclosure, the oral cavity cleaning device 1 can prevent wasteful ejection of water in cleaning the oral cavity.
(3) The ejection control unit 116 of the oral cavity cleaning device 1 may end ejection after a predetermined time has elapsed after starting ejection.

According to the present disclosure, the oral cavity cleaning device 1 can prevent wasteful ejection of water in cleaning the oral cavity.
(4) The boundary detection unit 114 of the oral cavity cleaning apparatus 1 may detect the boundary as a plurality of discrete points based on the pixel values of the image data.

According to the present disclosure, the oral cavity cleaning apparatus 1 detects the boundary between the tooth T and the gum G as a plurality of discrete points, compared to calculating the boundary for all pixel values. , it is possible to reduce the amount of data to be acquired.
(5) The oral cavity cleaning device 1 may further have the following configuration.
(vii) It may further include a nozzle control section 117 that controls the drive mechanism 15 for changing the ejection direction of the liquid from the cleaning section 11 .

According to the present disclosure, in the oral cavity cleaning device 1, the area A, to which water is discharged from the nozzle 10, coincides with the boundaries between the teeth T and the gums G, so that the oral cavity can be appropriately cleaned. Become.
(6) The oral cavity cleaning device 1 may further have the following configuration.
(viii) It may further include an image quality information adjustment unit 118 that calculates the average value of the pixel values of the image data and adjusts the image quality of the image data based on the average value.

According to the present disclosure, the image quality information adjustment unit 118 allows the oral cavity cleaning apparatus 1 to adjust the image quality of the image data and accurately determine the boundary between the tooth and the gum.
(7) A computer-implemented oral cavity cleaning method has the following processes.
(i) It includes a process of acquiring image data acquired by a camera unit that photographs the intraoral area.
(ii) detecting boundaries between teeth and gums in the oral cavity based on the image data;
(iii) Based on the image data, it includes a process of determining whether the liquid ejected from the cleaning unit that cleans the oral cavity by ejecting the liquid hits the boundary.
(iv) This includes a process of ejecting liquid for cleaning the oral cavity from the cleaning unit 11 when it is determined that the liquid ejected from the cleaning unit 11 hits the boundary.

According to the present disclosure, the oral cavity cleaning method causes the cleaning unit 11 to eject liquid for cleaning the oral cavity when it is determined that the liquid ejected from the cleaning unit 11 hits the boundary. Thereby, the intraoral cleaning method can appropriately cleanse the site to be cleaned in the oral cavity.
(8) The oral cavity cleaning program to be executed by a computer has the following processes.
(i) It includes a process of acquiring image data acquired by a camera unit that photographs the intraoral area.
(ii) detecting boundaries between teeth and gums in the oral cavity based on the image data;
(iii) Based on the image data, it includes a process of determining whether the liquid ejected from the cleaning unit that cleans the oral cavity by ejecting the liquid hits the boundary.
(iv) This includes a process of ejecting liquid for cleaning the oral cavity from the cleaning unit 11 when it is determined that the liquid ejected from the cleaning unit 11 hits the boundary.

According to the present disclosure, the oral cavity cleaning program causes the cleaning unit 11 to eject liquid for cleaning the oral cavity when it is determined that the liquid ejected from the cleaning unit 11 hits the boundary. As a result, the oral cavity cleaning program can appropriately clean the site to be cleaned in the oral cavity.

The present disclosure can be applied to a camera-equipped oral cavity cleaning device that can appropriately clean a site to be cleaned in the oral cavity. Specifically, the present disclosure is applicable to commercial and household mouthwashes and the like.

1 Oral Cleaning Device 10 Nozzle 11 Cleaning Unit 12 Camera Unit 13 Cable 14 Mounting Unit 15 Drive Mechanism 16 Drive Control Unit 20 Water Tank 30 Operation Switch 40 Water Pressure Switch 100 Controller 110 Control Unit 111 Switch Press Determination Unit 112 Camera Control Unit 113 Image data acquisition unit 114 Boundary detection unit 115 Position determination unit 116 Ejection control unit 117 Nozzle control unit 118 Image quality information adjustment unit 120 Storage unit 130 Communication IF
140 input/output interface
A area B boundary point B1 boundary point B2 boundary point D distance G gum L straight line T tooth

Claims

A camera unit that takes pictures of the inside of the oral cavity,
a cleaning unit that cleans the oral cavity by ejecting a liquid;
an image data acquisition unit that acquires image data acquired by the camera unit;
a boundary detection unit that detects a boundary between the tooth and the gum in the oral cavity based on the image data;
a position determination unit that determines whether or not the liquid ejected from the cleaning unit hits the boundary based on the image data;
an ejection control unit configured to eject the liquid for cleaning the oral cavity from the cleaning unit when the position determining unit determines that the liquid ejected from the cleaning unit hits the boundary. Oral cleaning device.
The ejection control unit ejects the liquid for cleaning the oral cavity from the cleaning unit when the position determining unit determines that the liquid ejected from the cleaning unit does not hit the boundary. 2. The oral rinsing device of claim 1, wherein the device does not allow
The ejection control unit terminates ejection after a predetermined time has elapsed after starting ejection.
The oral cavity cleaning device according to claim 1 or 2.
the boundary detection unit detects the boundary as a plurality of discrete points based on pixel values of the image data;
An oral cleaning device according to any one of claims 1 to 3.
further comprising a nozzle control unit that controls a drive mechanism for changing at least one selected from the group consisting of the orientation and position of the tip of the nozzle;
When the position determination unit determines that the liquid ejected from the cleaning unit does not hit the boundary, the nozzle control unit controls the nozzle control unit so that the liquid ejected from the cleaning unit hits the boundary. controlling the drive mechanism to change at least one selected from the group consisting of orientation and position of the tip of the nozzle;
An oral cleaning device according to any one of claims 1 to 4.
The oral cavity according to any one of claims 1 to 5, further comprising an image quality information adjustment unit that calculates an average value of pixel values of the image data and adjusts the image quality of the image data based on the average value. Internal cleaning device.
A computer-implemented oral cleaning method comprising:
Acquire image data acquired by the camera unit that shoots the intraoral area,
detecting boundaries between teeth and gums in the oral cavity based on the image data;
determining, based on the image data, whether or not the liquid ejected from a cleaning unit that cleans the oral cavity by ejecting the liquid hits the boundary;
An oral cavity cleaning method, wherein the liquid for cleaning the oral cavity is ejected from the cleaning section when it is determined that the liquid ejected from the cleaning section hits the boundary.
Acquire image data acquired by the camera unit that shoots the intraoral area,
detecting boundaries between teeth and gums in the oral cavity based on the image data;
determining, based on the image data, whether or not the liquid ejected from a cleaning unit that cleans the oral cavity by ejecting the liquid hits the boundary;
An oral cavity cleaning program for causing a computer to execute a process of ejecting the liquid for cleaning the oral cavity from the cleaning unit when it is determined that the liquid ejected from the cleaning unit hits the boundary. .